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33 lines
1.5 KiB
Markdown
33 lines
1.5 KiB
Markdown
# Simulation overview
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The Clover simulation environment allows users to run and debug their code within a simulator while using most of the features available on the real drone. The simulation utilizes [PX4 SITL mode](sitl.md) and uses the same ROS code as the real drone. Most hardware is simulated as well.
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## Features
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Basic, user-installable environment includes:
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* high-quality Clover 4 visual model;
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* Gazebo plugins for Clover-specific hardware (e.g. LED strip);
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* modification-friendly [`xacro`](https://wiki.ros.org/xacro) drone descriptions;
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* sample models and worlds;
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* [`roslaunch`](https://wiki.ros.org/roslaunch) files for quick simulation launching and configuration.
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Additionally, a [virtual machine image](simulation_vm.md) that mimics the real drone as closely as possible is provided with the following features:
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* easy access to the simulation environment;
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* Visual Studio Code editor, preconfigured to work with ROS packages;
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* Monkey web server for web-based Clover plugins;
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* always-running `roscore` service;
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* ROS GUI tools (`rviz`, `rqt`).
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## Architecture
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The simulation environment is based on the following components:
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* [Gazebo](http://gazebosim.org/), a state-of-the-art robotics simulator;
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* [PX4](https://px4.io/), specifically its SITL (software-in-the-loop) components;
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* [`sitl_gazebo`](https://github.com/PX4/sitl_gazebo) package containing Gazebo plugins for PX4;
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* ROS packages and Gazebo plugins.
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<!-- TODO: Write more, add a diagram, etc -->
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